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FlightTask: rename and move setCruisingSpeed() -> overrideCruiseSpeed()

This commit is contained in:
Matthias Grob 2022-04-12 16:40:03 +02:00 committed by Roman Bapst
parent f892a624b7
commit 68cf686892
4 changed files with 10 additions and 11 deletions
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2
src/modules/flight_mode_manager/FlightModeManager.cpp
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@ -447,7 +447,7 @@ void FlightModeManager::handleCommand()
if ((command.command == vehicle_command_s::VEHICLE_CMD_DO_CHANGE_SPEED)
&& (static_cast<uint8_t>(command.param1 + .5f) == vehicle_command_s::SPEED_TYPE_GROUNDSPEED)
&& (command.param2 > 0.f)) {
_current_task.task->setCruisingSpeed(command.param2);
_current_task.task->overrideCruiseSpeed(command.param2);
}
}
}

8
src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
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@ -223,6 +223,12 @@ bool FlightTaskAuto::update()
return ret;
}
void FlightTaskAuto::overrideCruiseSpeed(const float cruise_speed_m_s)
{
_mc_cruise_speed = cruise_speed_m_s;
_commanded_speed_ts = hrt_absolute_time();
}
void FlightTaskAuto::_prepareLandSetpoints()
{
_velocity_setpoint.setNaN(); // Don't take over any smoothed velocity setpoint
@ -345,7 +351,7 @@ bool FlightTaskAuto::_evaluateTriplets()
_type = (WaypointType)_sub_triplet_setpoint.get().current.type;
// Override a commanded cruise speed if the cruise speed from the triplet is valid and more recent
// Prioritize cruise speed from the triplet when it's valid and more recent than the previously commanded cruise speed
const float cruise_speed_from_triplet = _sub_triplet_setpoint.get().current.cruising_speed;
if (PX4_ISFINITE(cruise_speed_from_triplet) && cruise_speed_from_triplet >= 0

8
src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp
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@ -92,17 +92,11 @@ public:
bool updateInitialize() override;
bool update() override;
bool setCruisingSpeed(const float cruising_speed_m_s) override
{
_mc_cruise_speed = cruising_speed_m_s;
_commanded_speed_ts = hrt_absolute_time();
return true;
}
/**
* Sets an external yaw handler which can be used to implement a different yaw control strategy.
*/
void setYawHandler(WeatherVane *ext_yaw_handler) override {_ext_yaw_handler = ext_yaw_handler;}
void overrideCruiseSpeed(const float cruise_speed_m_s) override;
protected:
matrix::Vector2f _getTargetVelocityXY(); /**< only used for follow-me and only here because of legacy reason.*/

3
src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp
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@ -167,6 +167,7 @@ public:
* This method does nothing, each flighttask which wants to use the yaw handler needs to override this method.
*/
virtual void setYawHandler(WeatherVane *ext_yaw_handler) {}
virtual void overrideCruiseSpeed(const float cruise_speed_m_s) {}
void updateVelocityControllerFeedback(const matrix::Vector3f &vel_sp,
const matrix::Vector3f &acc_sp)
@ -175,8 +176,6 @@ public:
_acceleration_setpoint_feedback = acc_sp;
}
virtual bool setCruisingSpeed(const float cruising_speed_m_s) { return false; }
protected:
uORB::SubscriptionData<vehicle_local_position_s> _sub_vehicle_local_position{ORB_ID(vehicle_local_position)};
uORB::SubscriptionData<home_position_s> _sub_home_position{ORB_ID(home_position)};